JPH03212706A - Three-dimensional coordinate transformation control system - Google Patents

Three-dimensional coordinate transformation control system

Info

Publication number
JPH03212706A
JPH03212706A JP2009427A JP942790A JPH03212706A JP H03212706 A JPH03212706 A JP H03212706A JP 2009427 A JP2009427 A JP 2009427A JP 942790 A JP942790 A JP 942790A JP H03212706 A JPH03212706 A JP H03212706A
Authority
JP
Japan
Prior art keywords
dimensional coordinate
coordinate transformation
head
pulse distribution
pulse
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2009427A
Other languages
Japanese (ja)
Inventor
Takao Sasaki
隆夫 佐々木
Kentaro Fujibayashi
謙太郎 藤林
Masahiko Miyake
雅彦 三宅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP2009427A priority Critical patent/JPH03212706A/en
Priority to EP19910901899 priority patent/EP0463176A4/en
Priority to US07/761,800 priority patent/US5265027A/en
Priority to PCT/JP1991/000020 priority patent/WO1991010944A1/en
Publication of JPH03212706A publication Critical patent/JPH03212706A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/195—Controlling the position of several slides on one axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33258—Common coordinate conversion for multiple heads, spindles

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To reduce the operation frequency of three-dimensional coordinate transformation and to reduce the load of a numerical control device by executing the three-dimensional coordinate transformation of a 1st head, and using the transformed coordinate value for the pulse distribution of the other head. CONSTITUTION:A preprocessing operation means 2 reads out the contents of a working program 1 and decodes the read program to compute pulse distribution data. A three-dimensional coordinate transformation mean 3 in the means 2 executes the three-dimensional coordinate transformation of a coordinate system e.g. vertical to an inclined plane. The means 3 executes the three- dimensional transformation of pulse distribution for the 1st head and sends the pulse distribution data to pulse distributing means 4, 5. Namely, the three- dimensional coordinate transformation may be executed only once. Then distribution pulses XP1, YP1, ZP1 for controlling the 1st head are outputted from the means 4 to respective servo motors and distribution pulses XP2, YP2, ZP2 for controlling the 2nd head are outputted from the means 5 to respective servo motors.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は複数のヘッドを有する工作機械を制御する数値
制御装置での３次元座標変換制御方式に関し、特に３次
元座標変換を簡単に計算できるようにした３次元座標変
換制御方式に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a three-dimensional coordinate transformation control method in a numerical control device that controls a machine tool having a plurality of heads, and in particular, a method that allows easy calculation of three-dimensional coordinate transformation. The present invention relates to a three-dimensional coordinate transformation control method.

〔従来の技術〕[Conventional technology]

同時に複数の同一ワークを加工するために、複数のヘッ
ドを有する工作機械が使用されている。Machine tools having multiple heads are used to simultaneously process multiple identical workpieces.

これらの複数のヘッドは数値制御装置によって、並列制
御される。また、これらの複数のヘッドを有する工作機
械では、一般に加工プログラムは１個であるが、各ヘッ
ドを制御するための内部演算、例えば前処理演算等は各
ヘッド毎にある。These plural heads are controlled in parallel by a numerical control device. Furthermore, although these machine tools having a plurality of heads generally have one machining program, each head has its own internal calculations, such as preprocessing calculations, for controlling each head.

このために、従来の並列軸では３次元座標変換を実行す
る場合は、同一の移動指令であっても常に各ヘッドごと
に変換式を求め、座標変換の計算を行っていた。すなわ
ち、ヘッドの数に相当する回数骨の座標変換演算を実行
していた。For this reason, when performing three-dimensional coordinate transformation with conventional parallel axes, a transformation formula is always determined for each head and the coordinate transformation is calculated, even if the movement command is the same. That is, the bone coordinate transformation calculation is performed a number of times corresponding to the number of heads.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

しかし、３次元座標変換は変換マ）　ＩＪワックス設け
て演算を行うために、相当の演算量となり、数値制御装
置の処理時間上おおきな負担となっている。However, since the three-dimensional coordinate conversion is performed using a conversion machine (IJ wax), a considerable amount of calculation is required, which places a large burden on the processing time of the numerical control device.

一方、並列軸制御では同一の移動指令であれば３次元座
標変換した後の座標値も各ヘッド共に同一の座標値とな
る。従って、１ヘツドについてのみ３次元座標変換の計
算を行い、その他のヘッドについては３次元座標変換の
計算を行わずに先に計算したヘッドの座標値をそのまま
使用できる。On the other hand, in parallel axis control, if the movement command is the same, the coordinate values after three-dimensional coordinate transformation will be the same for each head. Therefore, the three-dimensional coordinate transformation calculation is performed only for one head, and the previously calculated head coordinate values can be used as they are without performing the three-dimensional coordinate transformation calculation for the other heads.

本発明はこのような点に鑑みてなされたものであり、３
次元座標変換を簡単に計算できるようにした３次元座標
変換制御方式を提供することを目的とする。The present invention has been made in view of these points, and has the following three points.
It is an object of the present invention to provide a three-dimensional coordinate transformation control method that allows easy calculation of dimensional coordinate transformation.

〔課題を解決するための手段〕[Means to solve the problem]

本発明では上記課題を解決するために、複数のヘッドを
有する工作機械を制御する数値制御装置での３次元座標
変換制御方式において、加工プログラムを解読して、第
１のヘッドの３次元座社変換を実行し、パルス分配デー
タを出力する前処理演算手段と、前記パルス分配データ
を受けて、パルス分配を実行する、前記複数のへ、ソド
に対応した複数のパルス分配手段と、を有することを特
徴とする３次元座標変換制御方式が、提供される。In order to solve the above problems, the present invention decodes a machining program in a three-dimensional coordinate transformation control method in a numerical control device that controls a machine tool having a plurality of heads, and Preprocessing calculation means for performing conversion and outputting pulse distribution data; and a plurality of pulse distribution means corresponding to the plurality of pulse distributions for receiving the pulse distribution data and executing pulse distribution. A three-dimensional coordinate transformation control method is provided.

〔作用〕[Effect]

前処理演算手段は第１のヘッドのみについて、３次元座
標変換を実行する。他のヘッドについてはこの３次元座
標変換された座標値をそのまま使用してパルス分配を行
う。これによって、３次元座標変換の演算回数を減じ、
数値制御装置の負担を軽減させる。The preprocessing calculation means executes three-dimensional coordinate transformation for only the first head. For the other heads, the pulse distribution is performed using the three-dimensional coordinate-converted coordinate values as they are. This reduces the number of calculations for three-dimensional coordinate transformation,
Reduces the burden on numerical control equipment.

〔実施例〕〔Example〕

以下、本発明の一実施例を図面に基づいて説明する。 Hereinafter, one embodiment of the present invention will be described based on the drawings.

第１図は本発明の一実施例のブロック図である。FIG. 1 is a block diagram of one embodiment of the present invention.

ここでは、２ヘツドの工作機械を制御する場合について
述べる。前処理演算手段２は加工プログラ１、１を読み
、これを解読してパルス分配データを演算する。例えば
、指令がどの平面上の指令であるか、補間は直線か、円
弧か等を解読して、必要なパルス分配データを作成する
。Here, we will discuss the case of controlling a two-head machine tool. The preprocessing calculation means 2 reads the processing programs 1, 1, decodes them, and calculates pulse distribution data. For example, it deciphers which plane the command is on, whether the interpolation is a straight line or a circular arc, etc., and creates the necessary pulse distribution data.

前処理演算手段２内には、３次元座標変換手段３がある
。この３次元座標変換手段３は、例えばヘッドを傾斜面
に垂直に制御して、傾斜面に穴あけ加工を行う場合等に
必要になる。すなわち、通常の座標系から、傾斜平面に
垂直な座標系に３次元座標変換を行う。Within the preprocessing calculation means 2, there is a three-dimensional coordinate transformation means 3. This three-dimensional coordinate conversion means 3 is necessary, for example, when drilling a hole in an inclined surface by controlling the head perpendicularly to the inclined surface. That is, a three-dimensional coordinate transformation is performed from a normal coordinate system to a coordinate system perpendicular to the inclined plane.

ここで、３次元座標変換手段３は第１のヘッドのパルス
分配データの３次元座標変換を行い、このパルス分配デ
ータをパルス分配手段４及びパルス分配手段５に送る。Here, the three-dimensional coordinate transformation means 3 performs three-dimensional coordinate transformation of the pulse distribution data of the first head, and sends this pulse distribution data to the pulse distribution means 4 and the pulse distribution means 5.

すなわち、３次元座標変換は１回のみ行えばよい。パル
ス分配手段４は第１のヘッドを制御するためのパルス分
配手段であり、パルス分配手段５は第２のヘッドのため
のものである。That is, the three-dimensional coordinate transformation only needs to be performed once. The pulse distribution means 4 is a pulse distribution means for controlling the first head, and the pulse distribution means 5 is for the second head.

パルス分配手段４からは第１のヘッドを制御する分配パ
ルスｘＦ〕１、ＹＰＩ、ＺＰＩが各サーホモータに出力
される。パルス分配手段５からは第２のヘッドを制御す
る分配パルスＸＰ２、ＹＦ３、ＺＰ２が各ザーボモータ
に出力される。The pulse distribution means 4 outputs distribution pulses xF]1, YPI, and ZPI for controlling the first head to each surfo motor. The pulse distribution means 5 outputs distribution pulses XP2, YF3, and ZP2 for controlling the second head to each servo motor.

第２図は本発明を実施するだめの数値制御装置（ＣＮＣ
）のハードウェアのブロック図である。Figure 2 shows a numerical control device (CNC) for implementing the present invention.
) is a block diagram of the hardware.

図において、１０は数値制御装置（ＣＮＣ）である。プ
ロセッサ１１は数値制御装置（ＣＮＣ）ＩＯ全全体制御
の中心となるプロセッサであり、バス２１を介して、Ｒ
ＯＭ１２に格納されたシステムプログラムを読み出し、
このシステムプログラムに従って、数値制御装置（ＣＮ
Ｃ）全体の制御を実行する。ＲＡＭ１３には一時的な計
算データ、表示データ等が格納される。ＲＡＭＩ　３に
はＳＲＡＭ使用される。ＣＭＯ５１４には工具補正量、
ピッチ誤差補正量、加工プログラム及びパラメータ等が
格納される。ＣＭＯ５１４は、図示されていないバッテ
リでバックアップされ、数値制御装置（ＣＮＣ）１０の
電源がオフされても不揮発性メモリとなっているので、
それらのデータはそのますｆに持される。In the figure, 10 is a numerical control device (CNC). The processor 11 is a processor that plays a central role in controlling the entire IO of a numerical control device (CNC).
Reads the system program stored in OM12,
According to this system program, the numerical control device (CN)
C) Execute overall control. The RAM 13 stores temporary calculation data, display data, etc. SRAM is used for RAMI 3. CMO514 has tool compensation amount,
Pitch error correction amounts, machining programs, parameters, etc. are stored. The CMO 514 is backed up by a battery (not shown) and serves as a non-volatile memory even when the power of the numerical control unit (CNC) 10 is turned off.
Those data are held in that square f.

インタフェース１５は外部機器３１用のインタフェース
であり、紙テープリーダ、紙テープパンチア−１紙デー
プリーダ・パンチャー等の外部機器３１が接続される。The interface 15 is an interface for an external device 31, to which the external device 31 such as a paper tape reader, paper tape puncher, etc. is connected.

紙テープリーグからはＮＣプログラムが読み込まれ、ま
た、数値制御装置（ＣＮＣ）１０内で編集された加ニブ
ログラドを紙テープパンチャーに出力することができる
。An NC program is read from the paper tape league, and the Canadian program edited in the numerical control device (CNC) 10 can be output to the paper tape puncher.

ＰＭＣ（プログラマブル・マシン・コントローラ）１６
はＣＮＣｌ０に内蔵され、ラダー形式で作成されたシー
ケンスプログラムで機械側を制御する。すなわち、加工
プログラムで指令された、ＭＩｉ’ｌ能、Ｓ機能及びＴ
＆’Ｎ能に従って、これらをシーケンスプログラムで機
械側で必要な信号に変換し、Ｉ１０ユニット１７から機
械側に出力する。PMC (Programmable Machine Controller) 16
is built into CNCl0 and controls the machine side using a sequence program created in ladder format. That is, the MIi'l function, S function and T function commanded by the machining program.
&'N functions, these are converted into necessary signals on the machine side using a sequence program, and outputted from the I10 unit 17 to the machine side.

この出力ｉ；；゛号は機械側のマクネット等を駆動し、
油圧バルブ、空圧バルブ及び電気アクチュエイタ等を作
動させる。また、機械側のリミットスイッチ及び機械操
作盤のスイッチ等の信号を受けて、必要な処理をして、
プロセッサＩｌに渡ｔ。This output i;;゛ drives the Macnet etc. on the machine side,
Operate hydraulic valves, pneumatic valves, electric actuators, etc. In addition, it receives signals from limit switches on the machine side, switches on the machine operation panel, etc., and performs the necessary processing.
Passed to processor Il.

グラフィック制御回路１８は各軸の現在位置、アラーム
、パラメータ、画像データ等のディジタルデータを画像
信号に変換して出力する。この画像信号はＣＲＴ／ＭＤ
Ｉユニット２５の表示装置２６に送られ、表示装置２６
に表示される。インタフェース１９はＣＲＴ／ＭＤＩユ
ニット２５内のキーボード２７からのデータを受けて、
プロセッサ１１に渡す。The graphic control circuit 18 converts digital data such as the current position of each axis, alarms, parameters, and image data into image signals and outputs the image signals. This image signal is CRT/MD
It is sent to the display device 26 of the I unit 25, and the display device 26
will be displayed. The interface 19 receives data from the keyboard 27 in the CRT/MDI unit 25,
It is passed to the processor 11.

インタフェース２０は手動パルス発生器３２に接続され
、手動パルス発生器３２からのパルスを受ける。手動パ
ルス発生器３２は機械操作盤に実装され、手動で機械稼
働部を精密に位置決めするのに使用する。Interface 20 is connected to and receives pulses from manual pulse generator 32 . The manual pulse generator 32 is mounted on the machine operation panel and is used to manually precisely position the moving parts of the machine.

軸制御回路４１〜４４はプロセッサ１１からの各軸の移
動指令を受けて、各軸の指令をサーボアンプ５１〜５４
に出力する。サーボアンプ５１〜５４はこの移動指令を
受けて、各軸のサーボモータ６１〜６４を駆動する。サ
ーボモータ６１〜６４には位置検出用のパルスコーダが
内蔵されており、このパルスコーダから位置信号がパル
ス列としてフィードバックされる。場合によっては、位
置検出器として、リニアスケールが使用される。Axis control circuits 41 to 44 receive movement commands for each axis from the processor 11 and send commands for each axis to servo amplifiers 51 to 54.
Output to. The servo amplifiers 51 to 54 receive this movement command and drive the servo motors 61 to 64 for each axis. The servo motors 61 to 64 have a built-in pulse coder for position detection, and a position signal is fed back from the pulse coder as a pulse train. In some cases, a linear scale is used as a position detector.

また、このパルス列をＦ／Ｖ＜周波数／速度）変換する
ことにより、速度信号を生成することができる。図では
これらの位置信号のフィードバックライン及び速度フィ
ードバックは省略しである。Further, by converting this pulse train to F/V<frequency/velocity, a velocity signal can be generated. In the figure, these position signal feedback lines and velocity feedback are omitted.

ここで、サーボモータ６１．６２は第１のヘッドを制御
し、サーボモータ６３．６４は第２のヘッドを制御する
。なお、Ｚｌ軸及びｚ２の軸制御回路・サーボアンプ、
サーボモータは省略しである。Here, servo motors 61.62 control the first head and servo motors 63.64 control the second head. In addition, the Zl axis and z2 axis control circuit/servo amplifier,
The servo motor is omitted.

スピンドル制御回路７１．７２はスピンドル回転指令及
びスピンドルのオリエンテーション等の指令を受けて、
スピンドルアンプ８１．８２にスピンドル速度信号を出
力する。スピンドルアンプ８２はこのスピンドル速度信
号を受けて、スピンドルモーフ９１．９２を指令された
回転速度で回転させる。The spindle control circuits 71 and 72 receive spindle rotation commands, spindle orientation commands, etc.
A spindle speed signal is output to spindle amplifiers 81 and 82. The spindle amplifier 82 receives this spindle speed signal and rotates the spindle morphs 91 and 92 at the commanded rotation speed.

〔発明の効果〕〔Effect of the invention〕

以上説明したように本発明では、第１のヘッドを制御す
るために３次元座社変換を行って、パルス分配データを
求め、そのパルス分配データを他のヘッドを制御するた
めのパルス分配手段にも出力するようにしたので、３次
元座標変換手段が１回で済み、数値制御装置の演算の負
担が軽減され、演算時間が短縮される。As explained above, in the present invention, in order to control the first head, three-dimensional translation is performed to obtain pulse distribution data, and the pulse distribution data is transmitted to the pulse distribution means for controlling the other heads. Since the three-dimensional coordinate conversion means only needs to be used once, the calculation load on the numerical control device is reduced, and the calculation time is shortened.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の一実施例のブロック図、第２図は本発
明を実施するための数値制御装置（ＣＮＣ）のハードウ
ェアのブロック図である。 加工プログラム 前処理演算手段 ３次元座標変換手段 パルス分配手段 パルス分配手段 プロセッサ ＯＭ ＡＭ １＜ １〜４４ １〜５４ １〜６４ １．７２ １．８２ １．９２ ＭＯＳ 軸制御回路 ザーボアンプ づ−ボモータ スピンドル制御回路 スピンドルアンプ スピンドルモータFIG. 1 is a block diagram of an embodiment of the present invention, and FIG. 2 is a block diagram of hardware of a numerical control device (CNC) for implementing the present invention. Machining program preprocessing calculation means 3-dimensional coordinate conversion means Pulse distribution means Pulse distribution means Processor OM AM 1< 1~44 1~54 1~64 1.72 1.82 1.92 MOS Axis control circuit Servo amplifier Zubo motor spindle Control circuit spindle amplifier spindle motor

Claims (1)

【特許請求の範囲】[Claims] （１）複数のヘッドを有する工作機械を制御する数値制
御装置での３次元座標変換制御方式において、 加工プログラムを解読して、第１のヘッドの３次元座標
変換を実行し、パルス分配データを出力する前処理演算
手段と、 前記パルス分配データを受けて、パルス分配を実行する
、前記複数のヘッドに対応した複数のパルス分配手段と
、 を有することを特徴とする３次元座標変換制御方式。(1) In a three-dimensional coordinate transformation control method for a numerical control device that controls a machine tool with multiple heads, the machining program is decoded, the three-dimensional coordinate transformation of the first head is executed, and the pulse distribution data is A three-dimensional coordinate transformation control method, comprising: a preprocessing calculation means for outputting; and a plurality of pulse distribution means corresponding to the plurality of heads, receiving the pulse distribution data and executing pulse distribution.
JP2009427A 1990-01-18 1990-01-18 Three-dimensional coordinate transformation control system Pending JPH03212706A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2009427A JPH03212706A (en) 1990-01-18 1990-01-18 Three-dimensional coordinate transformation control system
EP19910901899 EP0463176A4 (en) 1990-01-18 1991-01-11 Three-dimensional coordinates conversion control system
US07/761,800 US5265027A (en) 1990-01-18 1991-01-11 System for controlling three-dimensional coordinate transformation
PCT/JP1991/000020 WO1991010944A1 (en) 1990-01-18 1991-01-11 Three-dimensional coordinates conversion control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2009427A JPH03212706A (en) 1990-01-18 1990-01-18 Three-dimensional coordinate transformation control system

Publications (1)

Publication Number Publication Date
JPH03212706A true JPH03212706A (en) 1991-09-18

Family

ID=11720040

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2009427A Pending JPH03212706A (en) 1990-01-18 1990-01-18 Three-dimensional coordinate transformation control system

Country Status (4)

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CN100453969C (en) * 2004-12-31 2009-01-21 上海萨克斯动力总成部件系统有限公司 Three-coordinate measuring method and apparatus for measuring complicated curved surface
CN101887250B (en) * 2009-05-12 2012-05-30 鸿富锦精密工业（深圳）有限公司 CNC (Computerized Numerical Control) machine tool control device
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WO1991010944A1 (en) 1991-07-25
US5265027A (en) 1993-11-23
EP0463176A1 (en) 1992-01-02

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